Novel traveling wave array low-slow small radar data exchange method, system, device and medium

Abstract

The invention relates to the technical field of radar signal processing, in particular to a novel traveling wave array low-slow-small radar data exchange method, system and device and a medium, the system mainly comprises a data grouping module and a data ping-pong sending module, and the data grouping module is used for calculating a radar pitching wave position corresponding to specific processing of each DSP; the data ping-pong sending module enables the FPGA to orderly send the wave positions to the DSP cache according to groups, through the content, when pitching wave position combinations processed by the DSPs are selected, distance units which can be combined possibly and the combination closest to the numerical value of the mean value are selected each time, the number of echo distance units processed by the DSPs is balanced as much as possible, and the accuracy of the pitching wave position combinations is improved. And the radar echo processing efficiency is improved. The FPGA sends the data to the DSP in a ping-pong operation mode, so that data caching and data processing of the DSP are separated, and the data exchange and processing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar signal processing, and in particular, to a novel data exchange method, system, device, and medium for a traveling wave array low, slow, and small target radar. Background Art

[0002] In recent years, with the rapid development and popularization of unmanned aerial vehicles (UAVs), the incidents of UAVs being used for reconnaissance, attacks, and disrupting the normal order of economic activities have increased day by day, having an adverse impact on the safety of the people and the normal development of the national economic strength. In addition, with the development of low-altitude airspace and the development of low-altitude economy, there will be more and more human low-altitude activities, and the traffic conditions in low-altitude airspace will become increasingly complex. Therefore, there is an urgent need for effective monitoring means for the low-altitude area.

[0003] UAVs belong to slow and small targets flying at low altitudes (referred to as low, slow, and small targets for short). Currently, the industry generally recognizes that low, slow, and small radars can effectively monitor such targets. There are many common types of low, slow, and small radars. The low, slow, and small radar using a traveling wave array antenna has received much attention because of its good sidelobe and low cost.

[0004] In the prior art, the low, slow, and small radar using a traveling wave array antenna does not have an azimuth difference channel. Therefore, azimuth angle measurement can only be performed through the scanning angle measurement function. While the servo turntable rotates the radar array surface azimuthally, the signal processor controls the antenna and the channel to scan wave by wave in elevation (detecting once for each wave position), then collects the detected echo, performs coherent signal processing, target detection, and angle measurement, and finally sends the detected target information to the upper computer for display. The signal processor is composed of a Field Programmable Gate Array (FPGA) and multiple Digital Signal Processors (DSPs). Generally, after the FPGA completes the fast time domain processing, it sends the data to the DSP group to complete the slow time domain processing, target detection, and angle measurement.

[0005] When the FPGA sends data to the DSP group, it is generally sent to each DSP by polling wave by wave. Because the characteristic of the radar detected echo is that the data volume gradually decreases from low altitude to high altitude, such a data exchange method will result in a large data processing volume for the DSP that receives the echo data first, while the DSP that receives the echo data later has a small processing volume, leading to an unbalanced signal processing load for each DSP, thereby affecting the processing efficiency of the entire signal processor. Summary of the Invention

[0006] The purpose of the present invention is to provide a novel data exchange method, system, device, and medium for a traveling wave array low, slow, and small target radar to solve the above problems in the prior art.

[0007] The present invention is achieved through the following technical solutions:

[0008] A novel data exchange method for a low, slow, and small target radar with traveling wave arrays, comprising:

[0009] Step 1: Obtain the number of elevation wave positions of the radar and the number of range cells for each wave position;

[0010] Step 2: Calculate the number of wave positions processed by each DSP based on the number of elevation wave positions and the number of signal processing DSPs;

[0011] Step 3: Calculate the average value of the number of range cells processed by each DSP according to the number of range cells of each elevation wave position and the number of wave positions processed by each DSP;

[0012] Step 4: List all possible combinations based on the number of elevation wave positions of the radar and the number of wave positions processed by each DSP;

[0013] Step 5: Compare the range cells of all possible combinations with the average value, and select the combination with the closest value to the average value and save it as the target combination;

[0014] Step 6: Save the sequence number and the number of range cells of the elevation wave positions of the radar in the target combination, and count the remaining number of elevation wave positions of the radar and the number of range cells corresponding to the elevation wave positions of the radar;

[0015] Step 7: Repeat Steps 2 to 6 to obtain all combinations where the number of range cells processed by each DSP is closest to the average value, and determine the combination of elevation wave positions processed by each DSP;

[0016] Step 8: Calculate the cache addresses within each DSP, and send the data to the cache of the DSP in a ping-pong operation mode through the FPGA for subsequent processing by the DSP.

[0017] Preferably, the calculation of the number of wave positions processed by each DSP according to the number of elevation wave positions and the number of signal processing DSPs includes:

[0018]

[0019] where K is the number of wave positions processed by the DSP, M is the number of elevation wave positions, and N is the number of signal processing DSPs.

[0020] Preferably, the calculation of the average value of the number of range cells processed by each DSP according to the number of range cells of each elevation wave position and the number of wave positions processed by each DSP includes:

[0021]

[0022] where P is the average value and R(i) is the number of range cells.

[0023] Preferably, the possible combinations include:

[0024]

[0025] Wherein, S is the possible combination, is the combination set of the number of radar elevation wave positions and the number of wave positions processed by each DSP.

[0026] Preferably, the ping-pong operation method includes:

[0027] Set two independent first buffers and second buffers. The first buffer is used to store current data, and the second buffer is used to receive or send data. The switching of the buffers is managed by a state machine or a control module;

[0028] When data writing and buffering are required, the input data is written into the first buffer. When the first buffer is full or the writing is completed, switch to the second buffer;

[0029] When data reading and sending are required, read data from the first buffer, send the read data to the cache of the DSP through the output interface, and after the reading is completed, switch back to the second buffer and repeat the read-write operation.

[0030] Preferably, setting the first buffer or the second buffer includes:

[0031] Select the memory type, define the interface of the first buffer or the second buffer, and the interface includes a writing interface and a reading interface;

[0032] Generate the full signal and empty signal of the first buffer or the second buffer, and obtain the external control signal for read-write operations.

[0033] In a second aspect, the present invention also provides a new type of low-slow-small target radar data exchange system for a traveling wave array, including a data grouping calculation module and a data ping-pong sending module;

[0034] The data grouping module is used to calculate the specific radar elevation wave positions processed by each DSP;

[0035] The data ping-pong sending module enables the FPGA to send each wave position to the DSP cache in an orderly manner according to the grouping.

[0036] In a third aspect, a new type of low-slow-small target radar data exchange device for a traveling wave array includes a traveling wave array antenna, a radio frequency integrated channel, a signal processor, and a servo turntable;

[0037] The traveling wave array antenna is connected to the radio frequency integrated channel, the radio frequency integrated channel is connected to the signal processor, and the servo turntable is connected to the signal processor;

[0038] The signal processor is used to execute the above-mentioned novel data exchange method for a traveling wave array low, slow, and small target radar.

[0039] Preferably, the signal processor includes a first ADC module, a second ADC module, an FPGA module, a switch, and several DSP modules;

[0040] One end of the first ADC module and the second ADC module are respectively connected to the RF integrated channel, and the other ends are respectively connected to the FPGA module. The FPGA module is connected to the switch and the servo turntable, and several DSP modules are connected to the switch.

[0041] In a fourth aspect, a computer-readable storage medium stores a computer program thereon. When the computer program is executed by a processor, it implements the above-mentioned novel data exchange method for a traveling wave array low, slow, and small target radar.

[0042] The technical solution of the present invention has at least the following advantages and beneficial effects:

[0043] The present invention mainly includes a data grouping module for calculating the specific radar elevation wave positions processed by each DSP; a data ping-pong sending module enables the FPGA to send each wave position to the DSP buffer in an orderly manner according to the grouping. Through the above content, when selecting the combination of elevation wave positions processed by each DSP, each time the combination with the distance unit and the value closest to the mean among the possible combinations is selected, so that the number of echo distance units processed by each DSP is as balanced as possible, improving the efficiency of radar echo processing. The FPGA sends data to the DSP in a ping-pong operation mode, separating the data buffer and data processing of the DSP, and improving the efficiency of data exchange and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 It is the data flow exchange diagram of the present invention;

[0046] Figure 2 It is the hardware structure diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0048] Terms such as "first" and "second" in the specification and claims of this application and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. The naming or numbering of steps that appear in this application does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The named or numbered process steps can be changed in the order of execution according to the technical objectives to be achieved, as long as the same or similar technical effects can be achieved.

[0049] The division of modules that appears in this application is a logical division. In actual implementation, there can be other division methods. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the connections, couplings, or communications in this application can be direct connections, couplings, or communications between associated objects, or indirect connections, couplings, or communications through other devices. In addition, the connections, couplings, or communications between objects can be electrical or other similar forms, which are not limited in this application.

[0050] Please refer to Figure 1 - Figure 2 , a novel low, slow, and small target radar data exchange method provided by the present invention includes:

[0051] Step 1: Obtain the number of radar elevation wave positions and the number of range cells for each wave position;

[0052] Among them, the number of radar elevation wave positions refers to the number of electromagnetic waves that the radar system simultaneously transmits or receives in different elevation directions. These wave position numbers affect the detection range, resolution ability, and anti-interference performance of the radar. More wave positions can improve performance, but also increase the system complexity.

[0053] The number of range cells for each wave position The number of range cells for each wave position refers to the minimum range interval that can be distinguished for each wave position (i.e., each detected range cell) in the radar system. It is closely related to the range resolution ability of the radar.

[0054] Step 2: Calculate the number of wave positions processed by each DSP according to the number of elevation wave positions and the number of DSPs for signal processing;

[0055] Specifically, it includes:

[0056]

[0057] In the formula, K is the number of DSP - processed wave positions (rounded up), M is the number of elevation wave positions, and N is the number of signal - processing DSPs.

[0058] Step 3: Calculate the average value of the number of range cells processed by each DSP according to the number of range cells of each elevation wave position and the number of wave positions processed by each DSP;

[0059] Specifically, it includes:

[0060]

[0061] In the formula, P is the average value, R(i) is the number of range cells, where i is a natural number and its value ranges from 1 to M.

[0062] Step 4: List all possible combinations (each combination contains K wave positions) according to the number of radar elevation wave positions and the number of wave positions processed by each DSP;

[0063] Step 5: Compare the range cells of all possible combinations with the average value, and select the combination with the closest numerical value to the average value and save it as the target combination;

[0064] Step 6: Save the serial numbers and the number of range cells of the radar elevation wave positions in the target combination, and count the remaining number of radar elevation wave positions and the number of range cells of the corresponding radar elevation wave positions;

[0065] Step 7: Repeat Steps 2 to 6 to obtain all combinations of the number of range cells processed by each DSP that are closest to the average value, and determine the elevation wave - position combination processed by each DSP;

[0066] Step 8: Calculate the cache addresses in each DSP, and send the data to the cache of the DSP in a ping - pong operation mode through the FPGA for subsequent processing by the DSP.

[0067] Among them, there are 2K cache addresses. For example, if the starting address of the DSP data is 0xA0000000, then the first cache area is [0xA0000000, 0xA0000000 + 4*R(i)].

[0068] Through the above content, when selecting the elevation wave - position combination processed by each DSP, each time the combination with the range cells closest to the average value among the possible combinations is selected, making the number of echo range cells processed by each DSP as balanced as possible, and improving the efficiency of radar echo processing. The FPGA sends the data to the DSP in a ping - pong operation mode, separating the data caching and data processing of the DSP, and enhancing the efficiency of data exchange and processing.

[0069] Among them, the possible combinations include:

[0070]

[0071] Wherein, S is the possible combination, which is the combination set of the radar pitch wave positions and the wave positions processed by each DSP.

[0072] In an exemplary embodiment of the present invention, the ping-pong operation mode includes:

[0073] Set two independent first buffers and second buffers. The first buffer is used to store current data, and the second buffer is used to receive or send data. The switching of the buffers is managed by a state machine or a control module;

[0074] When data needs to be written and buffered, the input data is written into the first buffer. When the first buffer is full or the writing is completed, switch to the second buffer;

[0075] When data needs to be read and sent, read the data from the first buffer, send the read data to the cache of the DSP through the output interface. After the reading is completed, switch back to the second buffer and repeat the read-write operation.

[0076] In an exemplary embodiment of the present invention, setting the first buffer or the second buffer includes:

[0077] Select the memory type, define the interface of the first buffer or the second buffer, and the interface includes a write interface and a read interface;

[0078] Generate the full signal and the empty signal of the first buffer or the second buffer, and obtain the external control signal for read-write operations.

[0079] For example, at initialization, the system is in an idle state. When there is a write request, switch to the state of writing to the first buffer. After the first buffer is full, generate a write completion signal, and the state machine switches to the state of reading the first buffer. At the same time, switch to the second buffer to prepare to receive new data. After reading the data in the first buffer, generate a read completion signal, and the state machine returns to the idle state, waiting for a new write request.

[0080] When writing to the second buffer, similarly, when the second buffer is full, generate a write completion signal, switch to the state of reading the second buffer, read the data in the second buffer, and then return to the idle state.

[0081] In addition, it is also necessary to ensure that the switching signal is generated at the correct time to indicate switching to another buffer. This may involve the state machine generating the switching signal according to the generation of the completion signal in a specific state.

[0082] In a second aspect, the present invention further provides a novel data exchange system for low, slow, and small target radars with traveling wave arrays, including a data packet calculation module and a data ping-pong transmission module;

[0083] The data packet module is used to calculate the specific radar elevation wave positions processed by each DSP;

[0084] The data ping-pong transmission module enables the FPGA to send each wave position to the DSP cache in an orderly manner according to the grouping.

[0085] In a third aspect, a novel data exchange device for low, slow, and small target radars with traveling wave arrays includes a traveling wave array antenna, a radio frequency integrated channel, a signal processor, and a servo turntable;

[0086] The traveling wave array antenna is connected to the radio frequency integrated channel, the radio frequency integrated channel is connected to the signal processor, and the servo turntable is connected to the signal processor;

[0087] The signal processor is used to execute the above-mentioned novel data exchange method for low, slow, and small target radars with traveling wave arrays.

[0088] Preferably, the signal processor includes a first ADC module, a second ADC module, an FPGA module, a switch, and several DSP modules;

[0089] One end of the first ADC module and the second ADC module are respectively connected to the radio frequency integrated channel, and the other ends are respectively connected to the FPGA module. The FPGA module is connected to the switch and the servo turntable, and several DSP modules are connected to the switch.

[0090] In addition, in each embodiment of the present invention, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0091] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs, etc., which can store program codes.

[0092] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A novel data exchange method for low, slow, and small target radar with traveling wave array, characterized in that, Including: Step 1: Obtain the number of radar elevation wave positions and the number of range cells for each wave position; Step 2: Calculate the number of wave positions processed by each DSP according to the number of elevation wave positions and the number of signal processing DSPs; Step 3: Calculate the average value of the number of range cells processed by each DSP according to the number of range cells of each elevation wave position and the number of wave positions processed by each DSP; Step 4: List all possible combinations according to the number of radar elevation wave positions and the number of wave positions processed by each DSP; Step 5: Compare the range cells of all possible combinations with the average value, and select the combination with the closest numerical value to the average value and save it as the target combination; Step 6: Save the serial number and the number of range cells of the radar elevation wave positions in the target combination, and count the remaining number of radar elevation wave positions and the number of range cells of the corresponding radar elevation wave positions; Step 7: Repeat Steps 2 to 6 to obtain the combination with the closest number of range cells processed by each DSP to the average value, and determine the elevation wave position combination processed by each DSP; Step 8: Calculate the cache addresses within each DSP, and send the data to the cache of the DSP in a ping-pong operation manner through the FPGA for subsequent processing by the DSP.

2. A novel data exchange method for low, slow, and small target radar with traveling wave array according to claim 1, characterized in that, The calculation of the number of wave positions processed by each DSP according to the number of elevation wave positions and the number of signal processing DSPs includes: In the formula, K is the number of wave positions processed by the DSP, M is the number of elevation wave positions, and N is the number of signal processing DSPs.

3. A novel method for data exchange of a traveling-wave array low, slow, and small radar according to claim 2, characterized in that, The calculation of the average value of the number of range cells processed by each DSP according to the number of range cells of each elevation wave position and the number of wave positions processed by each DSP includes: In the formula, P is the average value, and R(i) is the number of range cells.

4. A novel data exchange method for low, slow, and small targets radar with traveling wave array according to claim 3, characterized in that, The possible combinations include: Where S is the possible combination, is the combination set of the radar pitch wave position number and the wave position numbers processed by each DSP.

5. A novel data exchange method for low, slow, small target radar based on traveling wave array according to claim 3, characterized in that, The ping-pong operation manner includes: Set two independent first buffer and second buffer. The first buffer is used to store the current data, and the second buffer is used to receive or send data. Manage the switching of the buffers through a state machine or a control module; When data writing and buffering are required, write the input data into the first buffer. When the first buffer is full or the writing is completed, switch to the second buffer; When data reading and sending are required, read the data from the first buffer, send the read data to the cache of the DSP through the output interface, and switch back to the second buffer after the reading is completed, and repeat the read and write operations.

6. A novel data exchange method for low, slow, small target traveling wave array radar according to claim 5, characterized in that, Setting the first buffer or the second buffer includes: Select the memory type, define the interface of the first buffer or the second buffer, and the interface includes a write interface and a read interface; Generate the write full signal and the empty signal of the first buffer or the second buffer, and obtain the external control signal for read and write operations.

7. A novel data exchange system for low, slow, and small target radar with traveling wave array, characterized in that, Including a data grouping calculation module and a data ping-pong sending module; The data grouping module is used to calculate the specific radar elevation wave positions processed by each DSP; The data ping-pong sending module enables the FPGA to send each wave position to the DSP cache in an orderly manner according to the grouping.

8. A novel data exchange device for low, slow, and small target traveling wave array radar, characterized in that, Including a traveling wave array antenna, a radio frequency integrated channel, a signal processor, and a servo turntable; The traveling wave array antenna is connected to the radio frequency integrated channel, the radio frequency integrated channel is connected to the signal processor, and the servo turntable is connected to the signal processor; The signal processor is used to execute a novel traveling wave array low, slow, and small radar data exchange method described in any one of claims 1-6.

9. A novel traveling-wave array low, slow, and small radar data exchange device according to claim 8, characterized in that, The signal processor includes a first ADC module, a second ADC module, an FPGA module, a switch, and a plurality of DSP modules; One end of the first ADC module and the second ADC module are respectively connected to the radio frequency integrated channel, and the other ends are respectively connected to the FPGA module. The FPGA module is connected to the switch and the servo turntable, and a plurality of the DSP modules are connected to the switch.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements a novel traveling wave array low, slow, and small radar data exchange method described in any one of claims 1-6.

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